Robot control method, device and robot

Abstract

The application is suitable for the field of robot technology, and provides a robot control method and device and a robot, which comprises the following steps: acquiring a first distance through a first laser sensor; acquiring a second distance through a second laser sensor; determining a first landing point coordinate according to the installation height, inclination angle of the robot and the first distance of the first laser sensor; determining a second landing point coordinate according to the installation height, inclination angle of the robot and the second distance of the second laser sensor; identifying the obstacle type corresponding to a target area according to the first landing point coordinate, the second landing point coordinate and a preset allowed obstacle climbing height, the target area being an area where the first landing point coordinate and the second landing point coordinate are located; and controlling the movement of the robot according to the obstacle type. Through the above method, the accuracy of robot control can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a robot control method and device, a robot, and a computer readable storage medium. BACKGROUND

[0002] In the moving process of a robot, the type of an obstacle needs to be identified, and then the movement of the robot is controlled according to the identification result. At present, there are various methods for identifying the type of an obstacle, such as identification by means of a cliff sensor or identification by means of vision.

[0003] When the type of an obstacle is identified by means of a cliff sensor, if there is a step in front, the cliff sensor can only identify when it is very close to the step, so the robot needs to stop in a very short time, otherwise it will fall down the step or tip over. In addition, if the robot encounters a downhill working condition, the cliff sensor is also prone to false positives, thereby causing the robot to stop abnormally.

[0004] When the type of an obstacle is identified by means of vision, the hardware cost of realizing the identification by means of vision is high, and people's privacy is easily exposed.

[0005] As can be seen from the above, the existing robot is difficult to accurately identify the type of an obstacle on the basis of a relatively low cost, such as being difficult to accurately identify a step, and thus being difficult to accurately control the robot. SUMMARY

[0006] The robot control method and device and the robot provided in the embodiments of the present application can solve the problem that the existing robot is difficult to accurately identify the type of an obstacle, thereby causing the accuracy of the control of the robot to be low.

[0007] In a first aspect, the embodiments of the present application provide a robot control method, the robot is installed with a first laser sensor and a second laser sensor, the inclination of the first laser sensor on the robot and the inclination of the second laser sensor on the robot are different, and the installation height of the first laser sensor on the robot and the installation height of the second laser sensor on the robot are also different, and the method comprises the following steps:

[0008] acquiring a first distance by means of the first laser sensor, the first distance being the distance between the spot falling point of the laser emitted by the first laser sensor and the first laser sensor;

[0009] acquiring a second distance by means of the second laser sensor, the second distance being the distance between the spot falling point of the laser emitted by the second laser sensor and the second laser sensor;

[0010] determine a first landing point coordinate according to the installation height, the tilt angle of the first laser sensor on the robot and the first distance, the first landing point coordinate being a coordinate of a light spot landing point of the laser emitted by the first laser sensor;

[0011] determine a second landing point coordinate according to the installation height, the tilt angle of the second laser sensor on the robot and the second distance, the second landing point coordinate being a coordinate of a light spot landing point of the laser emitted by the second laser sensor;

[0012] identify a target region corresponding obstacle type according to the first landing point coordinate, the second landing point coordinate and a preset allowed obstacle climbing height, the target region being a region where the first landing point coordinate and the second landing point coordinate are located;

[0013] control the movement of the robot according to the obstacle type.

[0014] In a second aspect, the embodiments of the present application provide a robot control device, the robot is installed with a first laser sensor and a second laser sensor, the tilt angle of the first laser sensor on the robot and the tilt angle of the second laser sensor on the robot are different, and the installation height of the first laser sensor on the robot and the installation height of the second laser sensor on the robot are also different, comprising:

[0015] a first distance acquisition module, configured to acquire a first distance through the first laser sensor, the first distance being a distance between a light spot landing point of the laser emitted by the first laser sensor and the first laser sensor;

[0016] a second distance acquisition module, configured to acquire a second distance through the second laser sensor, the second distance being a distance between a light spot landing point of the laser emitted by the second laser sensor and the second laser sensor;

[0017] a first landing point coordinate determination module, configured to determine a first landing point coordinate according to the installation height, the tilt angle of the first laser sensor on the robot and the first distance, the first landing point coordinate being a coordinate of a light spot landing point of the laser emitted by the first laser sensor;

[0018] a second landing point coordinate determination module, configured to determine a second landing point coordinate according to the installation height, the tilt angle of the second laser sensor on the robot and the second distance, the second landing point coordinate being a coordinate of a light spot landing point of the laser emitted by the second laser sensor;

[0019] An obstacle type identification module is configured to identify an obstacle type corresponding to a target region according to the first landing point coordinate, the second landing point coordinate, and a preset allowed obstacle climbing height, the target region being a region where the first landing point coordinate and the second landing point coordinate are located.

[0020] A motion control module is configured to control motion of the robot according to the obstacle type.

[0021] In a third aspect, an embodiment of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method in the first aspect when executing the computer program.

[0022] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the method in the first aspect.

[0023] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a robot, causes the robot to perform the method in the first aspect.

[0024] Compared with the prior art, the embodiment of the present application has the following beneficial effects:

[0025] In the embodiment of the present application, the first laser sensor and the second laser sensor are installed on the robot at different angles, and the first laser sensor is installed at a different height from the second laser sensor, so that the first landing point coordinate and the second landing point coordinate obtained based on the first laser sensor and the second laser sensor are coordinates of two different positions. Since the coordinates of the two different positions can reflect the height difference between the two positions, the obstacle type corresponding to the region where the two different positions are located can be quickly and accurately identified by combining the preset allowed obstacle climbing height, such as whether the obstacle type is a step that can be climbed by the robot. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments or the prior art description will be briefly introduced.

[0027] Figure 1 is a flowchart of a first robot control method provided by an embodiment of the present application;

[0028] Figure 2 is a schematic diagram of information such as the angle of inclination, the emission point, and the landing point of a laser sensor provided by an embodiment of the present application;

[0029] Figure 3 is a flow chart of a second robot control method provided by an embodiment of the present application;

[0030] Figure 4 is a schematic diagram of a downhill ramp provided by an embodiment of the present application;

[0031] Figure 5 is a schematic diagram of a large step provided by another embodiment of the present application;

[0032] Figure 6 is a schematic diagram of a high obstacle provided by an embodiment of the present application;

[0033] Figure 7 is a schematic diagram of an uphill ramp provided by another embodiment of the present application;

[0034] Figure 8 is a structural example diagram of a robot control device provided by an embodiment of the present application;

[0035] Figure 9 is a structural schematic diagram of a robot provided by an embodiment of the present application. DETAILED DESCRIPTION

[0036] In the following description, for the purposes of explanation and not limitation, specific details are set forth, such as particular sequences of acts, techniques, etc. in order to provide a thorough understanding of the embodiments of the application. However, it will be apparent to those skilled in the art that the embodiments of the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0037] It is to be understood that the terminology "includes", "has", "holds", "contains" used in the present specification and the appended claims should be interpreted as specifying the presence of stated features, integers, steps, operations, elements, and / or components but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0038] It is also to be understood that the terminology "and / or" used in the present specification and the appended claims covers the meaning of "one or the other", "both", and "at least one of the associated listed items and all possible combinations and includes these combinations.

[0039] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0040] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. That is, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0041] Example 1:

[0042] Because it is difficult to quickly identify the type of obstacle in front of a robot when using cliff sensors to identify the type of obstacle, and it is difficult to accurately distinguish whether the current obstacle is a step or a downhill slope, this application provides a robot control method.

[0043] In this robot control method, two laser sensors are mounted on the side facing the robot's forward direction, enabling them to emit laser beams forward. Based on the mounting height, tilt angle, and detected distance of these two laser sensors, the robot can calculate the coordinates of the laser spot points corresponding to different sensors. Furthermore, based on the obtained coordinates of the two laser spot points and a preset allowable obstacle-crossing height, the robot can identify the type of obstacle corresponding to the area where the two laser spot points are located.

[0044] The robot control method provided in the embodiments of this application is described below with reference to the accompanying drawings.

[0045] Figure 1 A flowchart of a first robot control method provided in an embodiment of this application is shown. This robot control method is applied to a robot equipped with a first laser sensor and a second laser sensor. The tilt angle of the first laser sensor on the robot body is not equal to the tilt angle of the second laser sensor on the robot body, and the mounting height of the first laser sensor on the robot body is also not equal to the mounting height of the second laser sensor on the robot body, as detailed below:

[0046] Step S11: Obtain a first distance through the first laser sensor. The first distance is the distance between the spot of the laser emitted by the first laser sensor and the first laser sensor.

[0047] Specifically, the first laser sensor emits a laser beam, which, when blocked, forms a spot on the blocking object. Since the speed of light is constant, the distance between the first laser sensor and the corresponding spot can be calculated based on the speed of light and its propagation time.

[0048] It should be noted that the first distance in this embodiment can be calculated by the first laser sensor and sent to the robot by the first laser sensor, or it can be calculated by the robot.

[0049] The robot in this application embodiment can be a cleaning robot used for cleaning.

[0050] Step S12: Obtain a second distance through the second laser sensor. The second distance is the distance between the spot of the laser emitted by the second laser sensor and the second laser sensor.

[0051] The calculation method for the second distance is the same as that for the first distance, and will not be repeated here.

[0052] Step S13: Determine the coordinates of the first landing point based on the installation height, tilt angle and first distance of the first laser sensor on the robot. The coordinates of the first landing point are the coordinates of the spot of the laser emitted by the first laser sensor.

[0053] The installation height of the first laser sensor on the robot refers to the distance from the installation position of the first laser sensor on the robot to the ground.

[0054] The tilt angle of the first laser sensor on the robot refers to the angle between the laser emission port of the first laser sensor and the robot that is less than 90°.

[0055] like Figure 2 As shown, the laser emission point of the first laser sensor is A1, the spot of light from A1 falls at A2, the tilt angle of the first laser sensor is α, the installation height of the first laser sensor on the robot is H1, and the first distance is the length of the side corresponding to A1A2. The laser emission point of the second laser sensor is B1, the spot of light from B1 falls at B2, the tilt angle of the second laser sensor is β, the installation height of the first laser sensor on the robot is H2, and the first distance is B1B2.

[0056] according to Figure 2 The length of the hypotenuse (e.g., A1A2) and the angle of inclination (e.g., α) of the right triangle can determine the length of the horizontal leg of the right triangle, and thus determine the x-coordinate of A2. Furthermore, the length of the vertical leg of the right triangle can be determined based on the length of the hypotenuse and the angle of inclination. Combining this length with the installation height H1, the y-coordinate of A2 can be calculated.

[0057] Step S14: Determine the coordinates of the second landing point based on the installation height, tilt angle and second distance of the second laser sensor on the robot. The coordinates of the second landing point are the coordinates of the spot of the laser emitted by the second laser sensor.

[0058] The second landing point coordinate is calculated in the same way as the first landing point coordinate, which will not be described here.

[0059] In step S15, the target region corresponding obstacle type is identified according to the first landing point coordinate, the second landing point coordinate and the preset allowed obstacle height, the target region is the region where the first landing point coordinate and the second landing point coordinate are located.

[0060] The preset allowed obstacle height refers to the highest obstacle height that the robot can climb over.

[0061] The obstacle type includes large steps.

[0062] In this embodiment, the vertical and horizontal information of two adjacent positions can reflect the obstacle type of the region where the two adjacent positions are located. For example, when the obstacle type of the region where the two adjacent positions are located is a large step, the absolute value of the vertical value of the two adjacent positions is usually much larger than the allowed obstacle height. Therefore, by the above method, the obstacle type of the corresponding region can be accurately identified.

[0063] In step S16, the movement of the robot is controlled according to the obstacle type.

[0064] In this embodiment, the robot controls its own movement according to different obstacle types to improve the control accuracy.

[0065] In this embodiment, since the inclination angle of the first laser sensor installed on the robot is not equal to the inclination angle of the second laser sensor installed on the robot, and the installation height of the first laser sensor on the robot is also not equal to the installation height of the second laser sensor on the robot, the first landing point coordinate obtained based on the first laser sensor and the second landing point coordinate obtained based on the second laser sensor are coordinates corresponding to two different positions. Since the coordinates of the two different positions can reflect the height difference between the two positions, the obstacle type corresponding to the region where the two different positions are located can be quickly and accurately identified by combining the preset allowed obstacle height, such as identifying whether the obstacle type is a step that the robot can climb over. For example, it can be identified whether there is a step in front of the robot before the robot reaches the step, without the need to identify whether there is a step in front of the robot when the robot reaches the step.

[0066] Embodiment two:

[0067] Figure 3The flow chart of the second robot control method provided by the embodiment of the application is shown. In the embodiment, steps S31, S32, S33 and S34 are the same as steps S11, S12, S13 and S14 of the first embodiment, and steps S37 and S38 are the same as steps S15 and S16 of the first embodiment, which will not be described herein.

[0068] In the embodiment, the installation height of the first laser sensor on the robot is greater than the installation height of the second laser sensor on the robot, and the distance reached by the laser emitted from the first laser sensor is greater than the distance reached by the laser emitted from the second laser sensor, which will be described in detail as follows.

[0069] In step S31, a first distance is obtained by the first laser sensor, and the first distance is the distance between the spot landing point of the laser emitted by the first laser sensor and the first laser sensor.

[0070] In step S32, a second distance is obtained by the second laser sensor, and the second distance is the distance between the spot landing point of the laser emitted by the second laser sensor and the second laser sensor.

[0071] In step S33, a first landing point coordinate is determined according to the installation height, the inclination angle of the first laser sensor on the robot and the first distance, and the first landing point coordinate is the coordinate of the spot landing point of the laser emitted by the first laser sensor.

[0072] In step S34, a second landing point coordinate is determined according to the installation height, the inclination angle of the second laser sensor on the robot and the second distance, and the second landing point coordinate is the coordinate of the spot landing point of the laser emitted by the second laser sensor.

[0073] In step S35, the absolute value of Ya is compared with the allowed obstacle height.

[0074] In the embodiment of the application, it is assumed that the horizontal coordinate of the first landing point coordinate is Xa and the vertical coordinate of the first landing point coordinate is Ya.

[0075] Ya is the vertical coordinate of the first landing point coordinate, and the value of Ya can be greater than 0 or less than 0.

[0076] The allowed obstacle height is a value greater than 0.

[0077] In step S36, if the absolute value of Ya is greater than the allowed obstacle height, the robot is controlled to pause movement.

[0078] In this embodiment, if Ya is greater than 0, when Ya is greater than the allowed obstacle height, it indicates that there is a higher obstacle in front of the robot, at this time, the robot is first controlled to stop moving, which can leave enough time for subsequent control of the robot.

[0079] Similarly, if Ya is less than 0, when Ya is less than the negative of the allowed obstacle height, it indicates that there is a lower step (such as a downward step) in front of the robot, at this time, the robot is first controlled to stop moving, which can leave enough time for subsequent control of the robot.

[0080] In step S37, the obstacle type corresponding to the target region is identified according to the first landing point coordinate, the second landing point coordinate, and the preset allowed obstacle height, the target region being a region where the first landing point coordinate and the second landing point coordinate are located.

[0081] In step S38, the movement of the robot is controlled according to the obstacle type.

[0082] In the embodiments of the present application, Ya is the landing point of the light spot corresponding to the laser emitted from the first laser sensor, the installation position of the first laser sensor on the robot is higher than the installation height of the second laser sensor on the robot, and the distance that the laser emitted from the first laser sensor can reach is greater than the distance that the laser emitted from the second laser sensor can reach, therefore, compared with the second landing point coordinate, Ya of the first landing point coordinate can reflect the obstacle information of a position farther in front of the robot, which is conducive to the robot making a response earlier. At the same time, when the absolute value of Ya is greater than the allowed obstacle height, it indicates that there is an upward step or obstacle in front of the robot, or there is a downward step, therefore, the robot is first controlled to stop moving, and then the movement of the robot is controlled after the obstacle type is determined, which can give the robot enough time to change its movement when it cannot pass through the obstacle, thereby effectively reducing the probability of accidents of the robot.

[0083] In some embodiments, the first laser sensor of the embodiments of the present application can be a line laser sensor, and the second laser sensor can be a laser ranging sensor.

[0084] Since the first landing point coordinate corresponding to the first laser sensor is first selected for processing when identifying the obstacle type, and the scanning area corresponding to the line laser sensor is greater than the scanning area corresponding to the laser ranging sensor, setting the first laser sensor as a line laser sensor and the second laser sensor as a laser ranging sensor can not only improve the probability of scanning the obstacle, but also reduce the cost.

[0085] In some embodiments, assuming that the horizontal coordinate of the second landing point coordinate is Xb, the vertical coordinate is Yb, and the allowed obstacle height is h, the step S37 includes:

[0086] A1, if the Ya is smaller than -h and the Yb is not larger than the Ya, it is determined that the obstacle type corresponding to the target region is a large step.

[0087] In the embodiment, when Ya<-h (i.e., the absolute value of Ya is larger than h), if it is determined that Yb≤Ya, it is determined that there is a large step in front of the robot. At this time, the robot can retreat and then turn to change the path.

[0088] A2, if the Ya is smaller than -h and the Yb is smaller than 0 but larger than the Ya, it is determined that the obstacle type corresponding to the target region is a downhill.

[0089] In the embodiment, as shown in Figure 4 , when Ya<-h (i.e., the absolute value of Ya is larger than h), if it is determined that Ya<Yb<0, it is determined that there is a downhill in front of the robot.

[0090] A3, if the Ya is smaller than -h and the Yb is not smaller than 0, it is determined that the obstacle type corresponding to the target region is a large step.

[0091] As shown in Figure 5 , when Ya<-h (i.e., the absolute value of Ya is larger than h), if it is determined that Yb≥0, it is determined that there is a large step in front of the robot. At this time, the robot can retreat and then turn to change the path.

[0092] According to the relationship between the first landing point coordinate and the second landing point coordinate in Figure 4 and Figure 5 , it can be known that the determination method adopted in the embodiment of the application can accurately determine whether the obstacle type is a large step or a downhill.

[0093] In some embodiments, the obstacle type is a downhill, and the step S38 specifically includes:

[0094] B1, determining the angle corresponding to the downhill.

[0095] The angle corresponding to the downhill can be calculated according to the first landing point coordinate and the second landing point coordinate.

[0096] B2, controlling the movement of the robot according to the angle corresponding to the downhill and a preset allowed climbing degree.

[0097] Specifically, when the angle corresponding to the downhill is not larger than the preset allowed climbing degree, the robot continues to move forward and downhill. When the angle corresponding to the downhill is larger than the preset allowed climbing degree, the robot retreats and then turns to change the path.

[0098] In the embodiments of the present application, since a robot usually cannot climb over a ramp with a large angle (such as not exceeding a preset allowable climbing degree) after design, when it is determined that there is a downhill ramp in front of the robot, it is necessary to select a corresponding movement in combination with the angle corresponding to the downhill ramp and the preset allowable climbing degree, so as to avoid tipping caused by the robot still moving forward when the angle corresponding to the downhill ramp is too large.

[0099] In some embodiments, assuming that the second landing coordinate is (Xb, Yb) and the preset allowable obstacle-crossing height is h, this step S37 includes:

[0100] C1. If the Ya is greater than the h and the Xb is not less than the Xa, it is determined that the obstacle type corresponding to the target area is a high obstacle.

[0101] As Figure 6 shown, when Ya>h (that is, the absolute value of Ya is greater than h), and it is further determined that Xb≥Xa, it is considered that there is a high obstacle in front of the robot. At this time, the robot can retreat and then turn to change the path.

[0102] C2. If the Ya is greater than the h and the Xb is less than the Xa, it is determined that the obstacle type corresponding to the target area is an uphill ramp.

[0103] As Figure 7 shown, when Ya>h (that is, the absolute value of Ya is greater than h), and it is further determined that Xb<Xa, it is considered that there is an uphill ramp in front of the robot.

[0104] According Figure 6 and Figure 7 the relationship between the first landing coordinate and the second landing coordinate in, it can be seen that the judgment method adopted in the embodiments of the present application can accurately judge whether the obstacle type is a high obstacle or an uphill ramp.

[0105] In some embodiments, the obstacle type is an uphill ramp, and this step S38 specifically includes:

[0106] D1. Determine the angle corresponding to the uphill ramp.

[0107] Specifically, the angle corresponding to the uphill ramp can be calculated according to the first landing coordinate and the second landing coordinate.

[0108] D2. Control the movement of the robot according to the angle corresponding to the uphill ramp and the preset allowable climbing degree.

[0109] Specifically, when the angle corresponding to the uphill ramp is not greater than the preset allowable climbing degree, the robot continues to move forward and climb the slope. When the angle corresponding to the uphill ramp is greater than the preset allowable climbing degree, the robot retreats and then turns to change the path.

[0110] In the embodiments of the application, when it is determined that there is an uphill in front of the robot, the corresponding motion is selected in combination with the angle corresponding to the uphill and the preset allowable climbing degree, so that the robot can be prevented from being overturned when the angle corresponding to the uphill is too large.

[0111] In some embodiments, the installation height of the first laser sensor is greater than the installation height of the second laser sensor, the distance that the laser emitted by the first laser sensor can reach is greater than the distance that the laser emitted by the second laser sensor can reach, the first landing point coordinate is (Xa, Ya), and the allowable obstacle climbing height is h, and the method further comprises:

[0112] E1, if the Ya is greater than a target height and not greater than the h, the robot is controlled to switch from the normal mode to a low-speed mode, the target height is greater than 0 and less than the h, and the speed of the low-speed mode is less than the speed of the normal mode.

[0113] In the embodiments of the application, the target height can be set as h / 2.

[0114] Since when it is determined that the Ya has a certain height, it indicates that there may be a region in front of the robot that the robot cannot climb over, and the speed in the low-speed mode is low, that is, the corresponding inertia is also smaller, the robot is first switched from the normal mode to the low-speed mode, so that the probability of the robot having an accident can be reduced through early prediction, thereby improving the accuracy of the control of the robot.

[0115] E2, if the Ya is not less than a negative number of the target height and not greater than the target height, the robot is controlled to move in the normal mode.

[0116] Since the target height is between 0 and h, when it is determined that the Ya is not less than a negative number of the target height and not greater than the target height, it indicates that the region in front of the robot is highly likely to be a region that the robot can climb over, so the robot only needs to be controlled to move in the normal mode to ensure that the robot can successfully perform a task.

[0117] E3, if the Ya is not less than a negative number of the h and less than a negative number of the target height, the robot is controlled to switch from the normal mode to the low-speed mode.

[0118] Since when it is determined that the Ya is less than a negative number of the target height, it indicates that the position where the first landing point coordinate is located has a low terrain, that is, it indicates that there is a region in front of the robot that the robot cannot climb over, and the speed in the low-speed mode is low, that is, the corresponding inertia is also smaller, the robot is first switched from the normal mode to the low-speed mode, so that the probability of the robot having an accident can be reduced through early prediction, thereby improving the accuracy of the control of the robot.

[0119] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0120] Embodiment three:

[0121] Corresponding to the robot control method of the above embodiment one and embodiment two, Figure 8 The structural block diagram of the robot control device provided by the embodiments of the present application is shown, and only the parts related to the embodiments of the present application are shown for the convenience of description.

[0122] Referring to Figure 8 The robot control device 8 is applied to a robot, the robot is installed with a first laser sensor and a second laser sensor, the inclination angle of the first laser sensor on the robot body and the inclination angle of the second laser sensor on the robot body are different, and the installation height of the first laser sensor on the robot body and the installation height of the second laser sensor on the robot body are also different, the robot control device 8 comprises: a first distance acquisition module 81, a second distance acquisition module 82, a first landing point coordinate determination module 83, a second landing point coordinate determination module 84, an obstacle type identification module 85, and a motion control module 86. Wherein:

[0123] The first distance acquisition module 81 is configured to acquire a first distance through the first laser sensor, the first distance being the distance between the landing point of the laser emitted by the first laser sensor and the first laser sensor.

[0124] Specifically, the first laser sensor emits laser, and when the laser is blocked, a landing point of light spot will be formed on the blocking object. Since the propagation speed of light is fixed, the distance between the first laser sensor and the corresponding landing point of light spot can be calculated according to the propagation speed of light and its propagation time.

[0125] It should be pointed out that the first distance of the embodiments of the present application can be calculated by the first laser sensor and sent to the robot, or calculated by the robot.

[0126] The robot of the embodiments of the present application can be a cleaning robot for cleaning.

[0127] The second distance acquisition module 82 is configured to acquire a second distance through the second laser sensor, the second distance being the distance between the landing point of the laser emitted by the second laser sensor and the second laser sensor.

[0128] Wherein, the calculation method of the second distance is the same as that of the first distance, which will not be repeated here.

[0129] The first landing point coordinate determination module 83 is used to determine the first landing point coordinates based on the installation height, tilt angle and first distance of the first laser sensor on the robot. The first landing point coordinates are the coordinates of the spot of the laser emitted by the first laser sensor.

[0130] The installation height of the first laser sensor on the robot refers to the distance from the installation position of the first laser sensor on the robot to the ground.

[0131] The tilt angle of the first laser sensor on the robot refers to the angle between the laser emission port of the first laser sensor and the robot that is less than 90°.

[0132] like Figure 2 As shown, the laser emission point of the first laser sensor is A1, the spot of light from A1 falls at A2, the tilt angle of the first laser sensor is θ, the installation height of the first laser sensor on the robot is H1, and the first distance is A1A2. The laser emission point of the second laser sensor is B1, the spot of light from B1 falls at B2, the tilt angle of the first laser sensor is θ, the installation height of the first laser sensor on the robot is H2, and the first distance is B1B2.

[0133] according to Figure 2 The length of the hypotenuse (e.g., A1A2) and the angle of inclination (e.g., θ1) of the right triangle can determine the length of the horizontal leg of the right triangle, and thus determine the x-coordinate of A2. Furthermore, the length of the vertical leg of the right triangle can be determined from the length of the hypotenuse and the angle of inclination. Combining this length with the installation height H1, the y-coordinate of A2 can be calculated.

[0134] The second landing point coordinate determination module 84 is used to determine the second landing point coordinates based on the installation height, tilt angle and second distance of the second laser sensor on the robot. The second landing point coordinates are the coordinates of the spot of the laser emitted by the second laser sensor.

[0135] The calculation method for the second landing point coordinates is the same as that for the first landing point coordinates, and will not be repeated here.

[0136] The obstacle type identification module 85 is used to identify the type of obstacle corresponding to the target area based on the first landing point coordinates, the second landing point coordinates and the preset allowable obstacle crossing height. The target area is the area where the first landing point coordinates and the second landing point coordinates are located.

[0137] The preset allowable obstacle-crossing height refers to the highest obstacle height that the robot can overcome.

[0138] In the embodiment, the information of the two adjacent positions in the vertical direction and the information of the two adjacent positions in the horizontal direction can reflect the obstacle type of the region where the two adjacent positions are located. For example, when the obstacle type of the region where the two adjacent positions are located is a large step, the value of the two adjacent positions in the vertical direction is usually much smaller than the allowed obstacle height, and thus the obstacle type of the corresponding region can be accurately identified by the above method.

[0139] The motion control module 86 is configured to control the motion of the robot according to the obstacle type.

[0140] In the embodiment, the robot controls its own motion according to different obstacle types, so as to improve the control accuracy.

[0141] In the embodiment, the first laser sensor and the second laser sensor are installed on the robot at different angles, and the first laser sensor is installed at a different height from the second laser sensor. Therefore, the first landing point coordinate and the second landing point coordinate obtained by the first laser sensor and the second laser sensor are coordinates of two different positions. Since the coordinates of the two different positions can reflect the height difference between the two positions, the obstacle type of the region where the two different positions are located can be quickly and accurately identified by combining the allowed obstacle height, such as whether the obstacle type is a step that can be climbed by the robot. For example, whether there is a step in front of the robot can be identified before the robot reaches the step, without the need to identify whether there is a step in front of the robot when the robot reaches the step.

[0142] In some embodiments, the installation height of the first laser sensor is greater than the installation height of the second laser sensor, and the distance that the laser emitted by the first laser sensor can reach is greater than the distance that the laser emitted by the second laser sensor can reach. The first landing point coordinate is (Xa, Ya), and the robot control device 8 further includes:

[0143] The absolute value comparison module is configured to compare the absolute value of Ya with the allowed obstacle height.

[0144] Ya is the vertical coordinate of the first landing point coordinate, which can be greater than 0 or less than 0.

[0145] The allowed obstacle height is a value greater than 0.

[0146] The pause control module is configured to control the robot to pause the motion if the absolute value of Ya is greater than the allowed obstacle height.

[0147] In this embodiment, if Ya is greater than 0, when Ya is greater than the allowed obstacle height, it indicates that there may be a higher obstacle in front of the robot, at this time, the robot is first controlled to stop moving, which can leave enough time for subsequent control of the robot.

[0148] Similarly, if Ya is less than 0, when Ya is less than the negative of the allowed obstacle height, it indicates that there may be a lower step (such as a downward step) in front of the robot, at this time, the robot is first controlled to stop moving, which can leave enough time for subsequent control of the robot.

[0149] In the embodiment of the application, Ya is the landing point of the light spot corresponding to the laser emitted from the first laser sensor, the installation position of the first laser sensor on the robot is higher than the installation height of the second laser sensor on the robot, and the distance that the laser emitted from the first laser sensor can reach is greater than the distance that the laser emitted from the second laser sensor can reach. Therefore, compared with the second landing point coordinate, Ya of the first landing point coordinate can reflect obstacle information of a position farther in front of the robot, which is conducive to the robot making a response earlier. At the same time, when the absolute value of Ya is greater than the preset allowed obstacle height, it indicates that there may be an upward step or obstacle in front of the robot, or there may be a downward step. Therefore, the robot is first controlled to stop moving, and then the robot is controlled to move after the type of the obstacle is determined, which can give the robot enough time to change its movement when it cannot pass through the obstacle, thereby effectively reducing the probability of accidents of the robot.

[0150] In some embodiments, the first laser sensor of the embodiment of the application can be a line laser sensor, and the second laser sensor can be a laser ranging sensor.

[0151] Since the first landing point coordinate corresponding to the first laser sensor is first selected for processing when identifying the type of the obstacle, and the scanning area corresponding to the line laser sensor is greater than the scanning area corresponding to the laser ranging sensor, setting the first laser sensor and the second laser sensor as the line laser sensor and the laser ranging sensor respectively can not only improve the probability of scanning the obstacle, but also reduce the cost.

[0152] In some embodiments, assuming that the horizontal coordinate of the second landing point coordinate is Xb, the vertical coordinate is Yb, and the allowed obstacle height is h, the obstacle type identification module 85 is specifically configured to:

[0153] If Ya is less than -h, and Yb is not greater than Ya, it is determined that the type of the obstacle corresponding to the target area is a large step;

[0154] In this embodiment, when Ya < -h (i.e., the absolute value of Ya is greater than h), if it is determined that Yb ≤ Ya, it is determined that there is a large step in front of the robot. At this time, the robot can retreat and then turn to change the path.

[0155] If the Ya is less than the -h, and the Yb is less than 0 but greater than the Ya, it is determined that the obstacle type corresponding to the target area is a downhill ramp;

[0156] In this embodiment, as Figure 4 shown, when Ya < -h (i.e., the absolute value of Ya is greater than h), if it is determined that Ya < Yb < 0, it is determined that there is a downhill ramp in front of the robot.

[0157] If the Ya is less than the -h, and the Yb is not less than 0, it is determined that the obstacle type corresponding to the target area is a large step. <00003​​​​​​​​​​​​​​​​​​​​​​​​In some embodiments, assuming that the horizontal coordinate of the second landing point coordinate is Xb, the vertical coordinate is Yb, and the allowed obstacle climbing height is h, the obstacle type identification module 85 is further specifically configured to:

[0165] If Ya is greater than h and Xb is not less than Xa, it is determined that the obstacle type corresponding to the target region is a high obstacle.

[0166] In this embodiment, as shown in FIG. 6, if Ya>h (i.e., the absolute value of Ya is greater than h) and Xb≥Xa, it is determined that there is a high obstacle in front of the robot, and the robot can retreat and then turn to change the path. Figure 6

[0167] If Ya is greater than h and Xb is less than Xa, it is determined that the obstacle type corresponding to the target region is an uphill.

[0168] In this embodiment, if Ya>h (i.e., the absolute value of Ya is greater than h) and XbXa, it is determined that there is an uphill in front of the robot.

[0169] According to the relationship between the first landing point coordinate and the second landing point coordinate in Figure 6 and Figure 7 , the determination method adopted in the embodiments of the present application can accurately determine whether the obstacle type is a high obstacle or an uphill.

[0170] In some embodiments, assuming that the obstacle type is an uphill, the movement of the robot is controlled according to the obstacle type, including:

[0171] determining the angle corresponding to the uphill, and controlling the movement of the robot according to the angle corresponding to the uphill and a preset allowed uphill degree.

[0172] In this embodiment, the angle corresponding to the uphill can be calculated according to the first landing point coordinate and the second landing point coordinate. When the angle corresponding to the uphill is not greater than the preset allowed uphill degree, the robot continues to move forward and uphill. When the angle corresponding to the uphill is greater than the preset allowed uphill degree, the robot retreats and then turns to change the path.

[0173] In the embodiments of the present application, when it is determined that there is an uphill in front of the robot, the corresponding movement is selected in combination with the angle corresponding to the uphill and the preset allowed uphill degree, so that the robot can be prevented from falling over when the angle corresponding to the uphill is too large.

[0174] ​In some embodiments, the first laser sensor is installed on the robot at a height greater than the height at which the second laser sensor is installed on the robot, the laser emitted from the first laser sensor can reach a distance greater than the distance that the laser emitted from the second laser sensor can reach, the first landing point coordinate is (Xa, Ya), and the allowable obstacle crossing height is h, the robot control device 8 further comprises a mode switching module for:

[0175] If the Ya is greater than a target height and not greater than the h, the robot is controlled to switch from the normal mode to a low-speed mode, the target height is greater than 0 and less than the h, and the speed of the low-speed mode is less than the speed of the normal mode;

[0176] In the embodiments of the present application, the target height can be set as h / 2.

[0177] Since when it is determined that the Ya has a certain height, it indicates that there can be a region in front of the robot that the robot cannot cross, and the speed in the low-speed mode is low, i.e., the corresponding inertia is also smaller, the robot is first switched from the normal mode to the low-speed mode, which can reduce the probability of accidents of the robot through early prediction, thereby improving the accuracy of the control of the robot.

[0178] If the Ya is not less than a negative of the target height and not greater than the target height, the robot is controlled to move in the normal mode;

[0179] In the embodiments, since the target height is between 0 and h, when it is determined that the Ya is between the negative of the target height and the target height, it indicates that the region in front of the robot is more likely to be a region that the robot can cross, and at this time, the robot only needs to be controlled to move in the normal mode to ensure that the robot can successfully perform the task.

[0180] If the Ya is not less than a negative of the h and less than a negative of the target height, the robot is controlled to switch from the normal mode to the low-speed mode.

[0181] In the embodiments, since when it is determined that the Ya is less than the negative of the target height, it indicates that the position where the first landing point coordinate is located has a low terrain, i.e., it indicates that there is a region in front of the robot that the robot cannot cross with a high probability, and the speed in the low-speed mode is low, i.e., the corresponding inertia is also smaller, the robot is first switched from the normal mode to the low-speed mode, which can reduce the probability of accidents of the robot through early prediction, thereby improving the accuracy of the control of the robot.

[0182] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0183] Example 4:

[0184] Figure 9 This is a schematic diagram of the structure of a robot provided in one embodiment of this application. Figure 9 As shown, the robot 9 in this embodiment includes: at least one processor 90 ( Figure 9 The diagram shows only one processor, a memory 91, and a computer program 92 stored in the memory 91 and executable on the at least one processor 90, which, when executed, performs the steps of any of the above-described method embodiments.

[0185] The robot may include, but is not limited to, a processor 90 and a memory 91. Those skilled in the art will understand that... Figure 9 This is merely an example of robot 9 and does not constitute a limitation on robot 9. It may include more or fewer parts than shown in the figure, or combine certain parts, or different parts, such as input / output devices, network access devices, etc.

[0186] The processor 90 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0187] The storage 91 can be an internal storage unit of the robot 9, such as a hard disk or a memory of the robot 9, in some embodiments. The storage 91 can also be an external storage device of the robot 9, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 9, in other embodiments. Further, the storage 91 can include both the internal storage unit and the external storage device of the robot 9. The storage 91 is used to store an operating system, an application program, a boot loader, data, and other programs, such as program codes of the computer program, etc. The storage 91 can also be used to temporarily store data that has been output or is to be output.

[0188] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is taken as an example, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the above described functions. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0189] The embodiments of the present application also provide a network device, which comprises at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the method embodiments described above when executing the computer program.

[0190] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, wherein the computer program is executable on a processor to implement the steps in any of the method embodiments described above.

[0191] The embodiments of the present application provide a computer program product, which, when running on a mobile terminal, enables the mobile terminal to implement the steps in any of the method embodiments described above.

[0192] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiment methods through a computer program to instruct relevant hardware to complete, and the computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can at least include any entity or device capable of carrying the computer program code to the photographing device / robot, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal and a software distribution medium. For example, a U disk, a mobile hard disk, a magnetic disk or an optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium can not be an electrical carrier signal and a telecommunications signal.

[0193] In the above various embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0194] Those skilled in the art can appreciate that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0195] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other ways. For example, the apparatus / network device embodiments described above are only schematic. The division of the modules or units is only a logical function division, and there can be another division in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0196] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0197] The above embodiment is only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A robot control method, characterized in that, The robot is equipped with a first laser sensor and a second laser sensor. The tilt angles of the first laser sensor and the second laser sensor on the robot are different, and the mounting heights of the first laser sensor and the second laser sensor on the robot are also different, including: A first distance is obtained by the first laser sensor, where the first distance is the distance between the spot of the laser emitted by the first laser sensor and the first laser sensor itself. The second distance is obtained by the second laser sensor, which is the distance between the spot of the laser emitted by the second laser sensor and the second laser sensor. Based on the installation height, tilt angle and first distance of the first laser sensor on the robot, the coordinates of the first landing point are determined. The coordinates of the first landing point are the coordinates of the spot of the laser emitted by the first laser sensor. Based on the installation height, tilt angle, and second distance of the second laser sensor on the robot, the coordinates of the second landing point are determined. The coordinates of the second landing point are the coordinates of the spot of the laser emitted by the second laser sensor. Based on the first landing point coordinates, the second landing point coordinates, and the preset allowable obstacle crossing height, the obstacle type corresponding to the target area is identified. The target area is the area where the first landing point coordinates and the second landing point coordinates are located. The preset allowable obstacle crossing height refers to the highest obstacle height that the robot can overcome. The robot's movement is controlled according to the type of obstacle; The installation height of the first laser sensor is greater than that of the second laser sensor, and the distance that the laser emitted by the first laser sensor can reach is greater than the distance that the laser emitted by the second laser sensor can reach. The first landing point coordinates are (Xa, Ya). Before identifying the obstacle type corresponding to the target area, the method further includes: Compare the absolute value of Ya with the allowable obstacle clearance height; If the absolute value of Ya is greater than the allowed obstacle-crossing height, then control the robot to pause its movement; The second landing point coordinates are (Xb, Yb), the allowed obstacle clearance height is h, and the step of identifying the obstacle type corresponding to the target area based on the first landing point coordinates, the second landing point coordinates, and the preset allowed obstacle clearance height includes: If Ya is less than -h and Yb is not greater than Ya, then the obstacle type corresponding to the target area is determined to be a large step. If Ya is less than -h, and Yb is less than 0 but greater than Ya, then the obstacle type corresponding to the target area is determined to be a downhill slope; If Ya is less than -h and Yb is not less than 0, then the obstacle type corresponding to the target area is determined to be a large step.

2. The robot control method as described in claim 1, characterized in that, The obstacle type is a downhill slope, and controlling the robot's movement according to the obstacle type includes: Determine the angle corresponding to the downhill ramp; The robot's movement is controlled based on the angle corresponding to the downhill ramp and the preset allowable climbing angle.

3. The robot control method as described in claim 1, characterized in that, The second landing point coordinates are (Xb, Yb), the allowed obstacle clearance height is h, and the step of identifying the obstacle type corresponding to the target area based on the first landing point coordinates, the second landing point coordinates, and the preset allowed obstacle clearance height includes: If Ya is greater than h and Xb is not less than Xa, then the obstacle type corresponding to the target area is determined to be a high obstacle. If Ya is greater than h and Xb is less than Xa, then the obstacle type corresponding to the target area is determined to be an uphill ramp.

4. The robot control method as described in claim 3, characterized in that, The obstacle type is an uphill ramp, and controlling the robot's movement according to the obstacle type includes: Determine the angle corresponding to the uphill ramp; The robot's movement is controlled based on the angle corresponding to the ramp and the preset allowable climbing angle.

5. The robot control method as described in claim 1, characterized in that, The installation height of the first laser sensor is greater than that of the second laser sensor, the distance that the laser emitted by the first laser sensor can reach is greater than that that the laser emitted by the second laser sensor can reach, the first landing point coordinates are (Xa, Ya), and the allowable obstacle-crossing height is h, further comprising: If Ya is greater than the target height but not greater than h, then control the robot to switch from normal mode to low speed mode, where the target height is greater than 0 and less than h, and the speed in low speed mode is less than the speed in normal mode. If Ya is not less than a negative number of the target height and not greater than the target height, then the robot is controlled to move in the normal mode. If Ya is not less than a negative number of h and is less than a negative number of the target height, then control the robot to switch from normal mode to low-speed mode.

6. The robot control method according to any one of claims 1 to 5, characterized in that, The first laser sensor is a line laser sensor, and the second laser sensor is a laser rangefinder sensor.

7. A robot control device, characterized in that, The robot is equipped with a first laser sensor and a second laser sensor. The tilt angle of the first laser sensor on the robot and the tilt angle of the second laser sensor on the robot are different, and the installation height of the first laser sensor on the robot and the installation height of the second laser sensor on the robot are also different, including: The first distance acquisition module is used to acquire a first distance through the first laser sensor, wherein the first distance is the distance between the spot of the laser emitted by the first laser sensor and the first laser sensor. The second distance acquisition module is used to acquire a second distance through the second laser sensor, wherein the second distance is the distance between the spot of the laser emitted by the second laser sensor and the second laser sensor; The first landing point coordinate determination module is used to determine the first landing point coordinates based on the installation height, tilt angle and first distance of the first laser sensor on the robot. The first landing point coordinates are the coordinates of the spot of the laser emitted by the first laser sensor. The second landing point coordinate determination module is used to determine the second landing point coordinates based on the installation height, tilt angle and second distance of the second laser sensor on the robot. The second landing point coordinates are the coordinates of the spot of the laser emitted by the second laser sensor. An obstacle type recognition module is used to identify the type of obstacle corresponding to a target area based on the first landing point coordinates, the second landing point coordinates, and a preset allowable obstacle crossing height. The target area is the area where the first landing point coordinates and the second landing point coordinates are located. The preset allowable obstacle crossing height refers to the highest obstacle height that the robot can climb. A motion control module is used to control the movement of the robot according to the type of obstacle; The installation height of the first laser sensor is greater than that of the second laser sensor, and the distance that the laser emitted by the first laser sensor can reach is greater than the distance that the laser emitted by the second laser sensor can reach. The first landing point coordinates are (Xa, Ya), and it also includes: The absolute value comparison module is used to compare the absolute value of Ya with the allowed obstacle crossing height before identifying the obstacle type corresponding to the target area; A pause control module is used to control the robot to pause its movement if the absolute value of Ya is greater than the allowable obstacle-crossing height. The second landing point coordinates are (Xb, Yb), the allowed obstacle crossing height is h, and the obstacle type recognition module is specifically used for: If Ya is less than -h and Yb is not greater than Ya, then the obstacle type corresponding to the target area is determined to be a large step. If Ya is less than -h, and Yb is less than 0 but greater than Ya, then the obstacle type corresponding to the target area is determined to be a downhill slope; If Ya is less than -h and Yb is not less than 0, then the obstacle type corresponding to the target area is determined to be a large step.

8. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 6.

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